A multi-beam survey line layout optimization method, system, device and storage medium

Abstract

The invention relates to the field of marine survey technology, in particular to a multi-beam survey line layout optimization method, system, device and storage medium. In order to solve the technical problem of low precision and efficiency of multi-beam survey line planning in the prior art, the invention first determines the optimal grid side length based on the grid area of ​​the inscribed circle of the task area map, and performs grid division to obtain a gridded task area map; then, based on the maximum water depth of the task area and the optimal grid side length, determines the traversal coverage neighborhood range, and calculates the total number of times each grid unit is covered; then, after the initial area division of the grid is performed based on the total number of times the grid is covered, the rationality of the division is evaluated according to the fitness of the grid in the initial area and the initial area of ​​the neighborhood, and the grid with small regional fitness is optimized for regional division to obtain an optimized spatial clustering map; finally, the survey line of each optimized area is obtained based on the cumulative number of times the optimized area is covered, so as to obtain a multi-beam layout result with higher precision.

Description

Technical Field

[0001] The present invention relates to the field of marine survey technology, and in particular to a multi-beam survey line layout optimization method, system, equipment and storage medium. Background Art

[0002] In ocean mapping, multi-beam can not only collect information on multiple parameters such as water depth, seabed type, and seabed vegetation, but also emit multiple sound beams at the same time to obtain more data at the same time, greatly improving the efficiency of ocean mapping.

[0003] At present, multi-beam survey line planning is often implemented based on grid division of task areas. Therefore, the grid size has an important influence on the accuracy of multi-beam survey line planning. If the grid size is too large, it will easily reduce the survey line accuracy. If the grid unit size is too small, it will increase the calculation tasks, which will easily cause calculation waste and affect the efficiency of multi-beam survey line planning. Summary of the invention

[0004] The object of the present invention is to provide a multi-beam survey line layout optimization method, system, equipment and storage medium.

[0005] The technical solution of the present invention is as follows:

[0006] A multi-beam survey line layout optimization method includes the following operations:

[0007] S1. Construct a task area map of the sea area to be measured, and construct the error term to be measured according to the grid area of ​​the inscribed circle corresponding to the task area map; obtain the optimal grid side length based on the error term to be measured; and grid the task area map according to the optimal grid side length to obtain a gridded task area map;

[0008] S2. Based on the maximum water depth of the task area, the maximum value of the effective sounding width is obtained; according to the maximum value of the effective sounding width and the optimal grid side length, the traversal coverage neighborhood range is obtained; according to the preset traversal direction, each grid in the gridded task area map is traversed in turn. During the traversal process, if the distance between the center point of the traversed grid and the center point of the current grid in the coverage neighborhood range is less than the effective sounding width corresponding to the traversed grid, the number of covered grids is increased by the first value. After the traversal is completed, the total number of covered grids is obtained.

[0009] S3. Based on the clustering algorithm, the grids whose total number of coverages in the neighborhood is within the same range of the total number of clusters are divided into the same area as the initial area, and a spatial clustering map containing several initial areas is obtained; the fitness of each grid in the initial area and the neighborhood initial area is obtained, and several regional fitnesses are obtained, forming a regional fitness set for each grid; the grids whose regional fitness in the area in the spatial clustering map is less than the fitness threshold are divided into the initial area corresponding to the maximum regional fitness in the corresponding regional fitness set, and an optimized spatial clustering map containing several optimized areas is obtained;

[0010] S4. According to the order of the cumulative number of coverage of the optimization area in the optimization space clustering diagram from small to large, and the survey line spacing of each optimization area, the survey line distribution number and the survey line distribution density of each optimization area are determined respectively; based on the survey line direction, survey line distribution number and survey line distribution density of each optimization area, a number of corresponding survey lines are evenly distributed in each optimization area to obtain the multi-beam survey line layout result.

[0011] The error term to be measured in S1 is obtained by the following formula:

[0012] ,

[0013] ,

[0014] ,

[0015] is the error term to be measured, is the area covered within the circle, is the area of ​​the inscribed circle corresponding to the task area graph, is the radius of the inscribed circle corresponding to the task area graph, is the grid side length, is the total number of grid cells in the covered area within the circle.

[0016] The operation of obtaining the optimal grid side length in S1 is specifically as follows: preset a number of grid side lengths to be selected, substitute each grid side length to be selected into the corresponding formula of the error term to be measured for calculation, and obtain the respective error values; draw a graph with the horizontal axis being the grid side length to be selected and the vertical axis being the error value. In the graph, if the difference in the error values ​​between adjacent grid side lengths to be selected after the current grid side length to be selected is less than the difference threshold, then the current grid side length to be selected is taken as the optimal grid side length.

[0017] The maximum effective sounding width in S2 is calculated by the following formula:

[0018] ,

[0019] is the maximum effective sounding width, is the maximum water depth in the mission area, is the opening angle of the multi-beam transducer.

[0020] The traversal coverage neighborhood range in S2 is a rectangular area formed by a number of traversal coverage neighborhood grids. The total number of traversal coverage neighborhood grids is calculated by the following formula:

[0021] ,

[0022] is the total number of neighborhood grids traversed and covered, is the maximum effective sounding width, is the optimal grid edge length.

[0023] The regional fitness in S3 is based on the grid aggregation degree of the area where the grid is located and the separation degree between regions; the grid aggregation degree is calculated by the following formula:

[0024] ,

[0025] is the grid aggregation degree, For the n The total number of times a grid is covered, N is the total number of grids in the initial area, is the average total number of times the grid is covered in the initial area.

[0026] The regional fitness in S3 is calculated by the following formula:

[0027] ,

[0028] For Grid i In the area a The regional fitness at For grid i in the region a Time and area a The average distance to other grids within For Grid i In the area a The average distance from all grids in the initial area of ​​all neighborhoods.

[0029] A multi-beam survey line layout optimization system, used to implement the above-mentioned multi-beam survey line layout optimization method, comprising:

[0030] The gridded task area map generation module is used to construct the task area map of the sea area to be tested, and construct the error term to be tested according to the grid area of ​​the inscribed circle corresponding to the task area map; based on the error term to be tested, the optimal grid side length is obtained; according to the optimal grid side length, the task area map is gridded to obtain the gridded task area map;

[0031] The total number of grid coverage generation modules is used to obtain the maximum effective sounding width based on the maximum water depth of the task area; obtain the traversal coverage neighborhood range according to the maximum effective sounding width and the optimal grid side length; traverse each grid in the gridded task area map in turn according to the preset traversal direction. During the traversal process, if the distance between the center point of the traversed grid and the center point of the current grid in the coverage neighborhood is less than the effective sounding width corresponding to the traversed grid, the number of current grid coverage increases by the first value. After the traversal is completed, the total number of times all grids are covered is obtained;

[0032] The optimized spatial clustering map generation module is used to divide the grids whose total number of coverages in the neighborhood range is within the same cluster total number range into the same area based on the clustering algorithm, as the initial area, and obtain a spatial clustering map containing several initial areas; obtain the fitness of each grid in the initial area and the neighborhood initial area, obtain several regional fitnesses, and form a regional fitness set for each grid; divide the grids whose regional fitness in the area in the spatial clustering map is less than the fitness threshold into the initial area corresponding to the maximum regional fitness in the corresponding regional fitness set, and obtain an optimized spatial clustering map containing several optimized areas;

[0033] The multi-beam survey line layout result generation module is used to determine the survey line distribution sequence number and survey line distribution density of each optimization area according to the order of the cumulative number of coverage of the optimization area in the optimization space clustering diagram from small to large, and the survey line spacing of each optimization area; based on the survey line direction, survey line distribution sequence number, and survey line distribution density of each optimization area, a number of corresponding survey lines are evenly distributed in each optimization area to obtain the multi-beam survey line layout result.

[0034] A multi-beam survey line layout optimization device comprises a processor and a memory, wherein the processor implements the above-mentioned multi-beam survey line layout optimization method when executing a computer program stored in the memory.

[0035] A computer-readable storage medium is used to store a computer program, wherein the computer program implements the above-mentioned multi-beam survey line layout optimization method when executed by a processor.

[0036] The beneficial effects of the present invention are:

[0037] The present invention is a multi-beam survey line layout optimization method. First, a task area map is constructed and the optimal grid side length is determined according to the area of ​​the inscribed circle grid. Grid division is performed according to the optimal grid side length to obtain a gridded task area map, so that the grid can better adapt to the sea area to be measured, thereby improving the grid division accuracy, which is beneficial to improving the accuracy and efficiency of subsequent multi-beam survey line design; then, based on the maximum water depth and the optimal grid side length of the task area, the traversal coverage neighborhood range is determined, and the total number of times each grid unit is covered during the traversal process is calculated; then, based on the total number of times the grid is covered, the initial area division of the grid is performed, and the rationality of each grid in the area division is evaluated according to the fitness of each grid in the initial area and the neighborhood initial area, and the grid is divided into the following areas: The grids in the spatial clustering map whose regional fitness is less than the fitness threshold are divided into the initial regions corresponding to the regional fitness concentration and the regional fitness maximum value, and the regional division is optimized to obtain an optimized spatial clustering map containing several optimized regions; finally, the survey line spacing of each optimized region in each optimized spatial clustering map is obtained, and the survey line distribution sequence number and the survey line distribution density of each optimized region are determined in turn according to the order of the cumulative number of coverage of the optimized region in the optimized spatial clustering map from small to large; then, based on the survey line direction, survey line distribution sequence number and survey line distribution density of each optimized region, several corresponding survey lines are evenly distributed in each optimized region to obtain the multi-beam survey line layout result, and the optimization of the multi-beam survey line layout is realized. DETAILED DESCRIPTION

[0038] This embodiment provides a multi-beam survey line layout optimization method, including the following operations:

[0039] S1. Construct a task area map of the sea area to be measured, and construct the error term to be measured according to the grid area of ​​the inscribed circle corresponding to the task area map; obtain the optimal grid side length based on the error term to be measured; and grid the task area map according to the optimal grid side length to obtain a gridded task area map;

[0040] S2. Based on the maximum water depth of the task area, the maximum value of the effective sounding width is obtained; according to the maximum value of the effective sounding width and the optimal grid side length, the traversal coverage neighborhood range is obtained; according to the preset traversal direction, each grid in the gridded task area map is traversed in turn. During the traversal process, if the distance between the center point of the traversed grid and the center point of the current grid in the coverage neighborhood range is less than the effective sounding width corresponding to the traversed grid, the number of covered grids is increased by the first value. After the traversal is completed, the total number of covered grids is obtained.

[0041] S3. Based on the clustering algorithm, the grids whose total number of coverages in the neighborhood is within the same range of the total number of clusters are divided into the same area as the initial area, and a spatial clustering map containing several initial areas is obtained; the fitness of each grid in the initial area and the neighborhood initial area is obtained, and several regional fitnesses are obtained, forming a regional fitness set for each grid; the grids whose regional fitness in the area in the spatial clustering map is less than the fitness threshold are divided into the initial area corresponding to the maximum regional fitness in the corresponding regional fitness set, and an optimized spatial clustering map containing several optimized areas is obtained;

[0042] S4. According to the order of the cumulative number of coverage of the optimization area in the optimization space clustering diagram from small to large, and the survey line spacing of each optimization area, the survey line distribution number and the survey line distribution density of each optimization area are determined respectively; based on the survey line direction, survey line distribution number and survey line distribution density of each optimization area, a number of corresponding survey lines are evenly distributed in each optimization area to obtain the multi-beam survey line layout result.

[0043] S1. Construct a mission area map of the sea area to be measured, and construct the error term to be measured according to the grid area of ​​the inscribed circle corresponding to the mission area map; obtain the optimal grid side length based on the error term to be measured; and grid the mission area map according to the optimal grid side length to obtain a gridded mission area map.

[0044] A task area map is constructed and the optimal grid side length is determined according to the area of ​​the inscribed circle grid. The grid is divided according to the optimal grid side length to obtain a gridded task area map, so that the grid can better adapt to the sea area to be measured and improve the fit between the grid division and the actual sea area to be measured. It can not only avoid the problem of low survey line accuracy caused by too large grid division, but also avoid the problem of waste of computing resources caused by too small grid division, thereby improving the grid division accuracy, which is conducive to improving the accuracy and efficiency of subsequent multi-beam survey line design.

[0045] First, draw a mission area map according to the scope of the sea area to be measured, and establish a coordinate system with the geometric center of the mission area map as the origin. The vertical axis y-axis passes through the coordinate origin and is parallel to the north-south direction, with due north as the positive direction of the y-axis; the horizontal axis x-axis passes through the coordinate system origin and is perpendicular to the y-axis, with due east as the positive direction of the x-axis; the vertical direction z-axis passes through the coordinate origin and is positive downward.

[0046] Then, the task area map is divided into grids to facilitate the subsequent survey line design, as follows.

[0047] Step 1: Construct the error term to be measured according to the grid area corresponding to the inscribed circle of the task area map.

[0048] The error term to be measured is obtained by the following formula:

[0049] ,

[0050] ,

[0051] ,

[0052] is the error term to be measured, is the area of ​​the area covered in the circle (the total area of ​​all complete grids in the inscribed circle), is the area of ​​the inscribed circle corresponding to the task area graph, is the radius of the inscribed circle corresponding to the task area graph, is the grid side length, is the total number of grids in the covered area within the circle (the total number of grids in the inscribed circle, the number of grids is an integer). The closer the area of ​​the covered area within the circle is to the area of ​​the inscribed circle corresponding to the task area map, the higher the grid division accuracy is and the smaller the error term to be measured is.

[0053] Step 2: Based on the error term to be measured, the optimal grid edge length is obtained.

[0054] Specifically, several side lengths of the grids to be selected are preset, and each side length of the grid to be selected is substituted into the corresponding formula of the error term to be measured for calculation to obtain the respective error values; a graph is drawn with the horizontal axis being the side length of the grid to be selected and the vertical axis being the error value. In the graph, if after the current side length of the grid to be selected (including the previous side length of the grid to be selected), the difference in the error values ​​between adjacent side lengths of the grid to be selected is less than the difference threshold, it means that the error term to be measured tends to be stable. In order to save computing resources and improve computing efficiency, the current side length of the grid to be selected is used as the optimal grid side length.

[0055] Step 3: According to the optimal grid side length, the task area map is gridded to obtain a gridded task area map.

[0056] S2. Based on the maximum water depth of the task area, the maximum value of the effective sounding width is obtained; according to the maximum value of the effective sounding width and the optimal grid side length, the traversal coverage neighborhood range is obtained; according to the preset traversal direction, each grid in the gridded task area map is traversed in turn. During the traversal process, if the distance between the center point of the traversed grid and the center point of the current grid in the coverage neighborhood range is less than the effective sounding width corresponding to the traversed grid, the number of covered grids is increased by the first value. After the traversal is completed, the total number of covered grids is obtained.

[0057] Based on the maximum water depth and optimal grid side length of the mission area, the traversal coverage neighborhood range is determined, and the total number of times each grid cell is covered during the traversal process is calculated to indirectly analyze the water depth information in the mission sea area.

[0058] This is convenient for improving the accuracy of subsequent regional division based on the total number of times each grid is covered, thereby helping to improve the accuracy of subsequent survey line layout.

[0059] First, based on the maximum water depth of the mission area, the maximum effective sounding width is obtained. The maximum effective sounding width is calculated using the following formula: , is the maximum effective sounding width, is the maximum water depth in the mission area, is the opening angle of the multi-beam transducer.

[0060] Then, according to the maximum effective sounding width and the optimal grid side length, the traversal coverage neighborhood range is obtained. Among them, the traversal coverage neighborhood range is a rectangular area formed by a number of traversal coverage neighborhood grid numbers.

[0061] The total number of traversed covered neighborhood grids is calculated using the following formula: , is the total number of neighborhood grids traversed and covered, is the maximum effective sounding width, is the optimal grid edge length.

[0062] Next, each grid in the gridded task area map is traversed in turn according to the preset traversal direction. During the traversal process, the traversed grid is located at the center of the coverage neighborhood. If the distance between the center point of the traversed grid (the center point of the grid being traversed) and the center point of the current grid in the coverage neighborhood is less than the effective sounding width corresponding to the traversed grid (the grid being traversed), the number of covered grids is increased by the first value.

[0063] Finally, after the traversal is completed, the total number of times all grids are covered is obtained. The greater the total number of times covered, the easier it is for the grid location to be detected by the measurement simulation ship and the shallower the water depth.

[0064] S3. Based on the clustering algorithm, the grids whose total number of coverages in the neighborhood range is in the same clustering total number range are divided into the same area as the initial area, and a spatial clustering map containing several initial areas is obtained; the fitness of each grid in the initial area and the neighborhood initial area is obtained to obtain several regional fitnesses, forming a regional fitness set for each grid; the grids whose regional fitness in the area in the spatial clustering map is less than the fitness threshold are divided into the initial area corresponding to the maximum regional fitness value in the corresponding regional fitness set, and an optimized spatial clustering map containing several optimized areas is obtained.

[0065] Based on the total number of times the grid is covered, the initial area division of the grid is performed, and then the rationality of each grid in the area division is evaluated according to the fitness of each grid in the initial area and the neighborhood initial area, and the grids whose regional fitness in the area in the spatial clustering diagram is less than the fitness threshold are divided into the initial area corresponding to the regional fitness concentration and the regional fitness maximum value, and the regional division is optimized to obtain an optimized spatial clustering diagram containing several optimized areas, thereby improving the accuracy of the grid division area.

[0066] First, based on the clustering algorithm, the grids whose total coverage times in the neighborhood are in the same cluster total frequency range are divided into the same region as the initial region, and a spatial clustering map containing several initial regions is obtained. For example, if the total coverage times of the current grid and the total coverage times of the grid in the upper right corner of its eight neighborhoods are in the same cluster total frequency range, the current grid is connected to the grid in the upper right corner of its eight neighborhoods and divided into the same region.

[0067] Then, in order to improve the accuracy of regional division and subsequent survey line layout, the fitness of each grid in its initial area and the neighborhood initial area is obtained as the regional fitness of each initial area. Several regional fitnesses are obtained to form a regional fitness set for each grid.

[0068] The regional fitness can be the inter-region separation, which is used to reflect the closeness between the grid and the initial region and the separation degree of the initial region of the neighborhood. The inter-region separation is calculated by the following formula:

[0069] ,

[0070] For Grid i In the area a The regional fitness at For Grid i In the area a Time and area a The average distance to other grids within For Grid i In the area a The average distance from all grids in the initial area of ​​all neighborhoods when ; the value is [-1,1]; when When it is close to 1, it means Much greater than , that is, the grid is close to the initial region and well separated from the neighboring initial regions; when When it is close to 0, it means and is close, indicating that the grid is located on the boundary of the two initial regions; When it is close to -1, it indicates Much greater than , indicating that the grid may be partitioned incorrectly, and it should belong to the neighborhood initial region rather than the current initial region.

[0071] The regional fitness can also be obtained based on the grid aggregation degree and the separation degree between regions in the region where the grid is located, which is the weighted sum of the grid aggregation degree and the separation degree between regions in the region where the grid is located.

[0072] The larger the grid aggregation value, the more concentrated the coverage times, the higher the grid aggregation, and the higher the accuracy of grid division, which is calculated by the following formula:

[0073] ,

[0074] is the grid aggregation degree, For the n The total number of times a grid is covered, N is the total number of grids in the initial area, is the average total number of times the grid is covered in the initial area.

[0075] Finally, the grids whose regional fitness in the area of ​​the spatial clustering map is less than the fitness threshold are divided into the initial area corresponding to the maximum regional fitness value in the corresponding regional fitness concentration, so as to optimize the grid area division and obtain an optimized spatial clustering map containing several optimized areas.

[0076] S4. According to the order of the cumulative number of coverage of the optimization area in the optimization space clustering diagram from small to large, and the survey line spacing of each optimization area, the survey line distribution number and the survey line distribution density of each optimization area are determined respectively; based on the survey line direction, survey line distribution number and survey line distribution density of each optimization area, a number of corresponding survey lines are evenly distributed in each optimization area to obtain the multi-beam survey line layout result.

[0077] The survey line spacing of each optimized area in each optimized spatial clustering diagram is obtained, and the survey line distribution sequence number and survey line distribution density of each optimized area are determined in turn according to the order of the cumulative number of coverage of the optimized area in the optimized spatial clustering diagram from small to large. Then, based on the survey line direction, survey line distribution sequence number, and survey line distribution density of each optimized area, a number of corresponding survey lines are evenly distributed to each optimized area to obtain the multi-beam survey line layout result. The above method for obtaining the survey line is a prior art, and can be found in the invention patent with patent number CN202410605374.X. In order to save space, it will not be repeated here.

[0078] This embodiment further provides a multi-beam survey line layout optimization system, which is used to implement the above-mentioned multi-beam survey line layout optimization method, including:

[0079] The gridded task area map generation module is used to construct the task area map of the sea area to be tested, and construct the error term to be tested according to the grid area of ​​the inscribed circle corresponding to the task area map; based on the error term to be tested, the optimal grid side length is obtained; according to the optimal grid side length, the task area map is gridded to obtain the gridded task area map;

[0080] The total number of grid coverage generation modules is used to obtain the maximum effective sounding width based on the maximum water depth of the task area; obtain the traversal coverage neighborhood range according to the maximum effective sounding width and the optimal grid side length; traverse each grid in the gridded task area map in turn according to the preset traversal direction. During the traversal process, if the distance between the center point of the traversed grid and the center point of the current grid in the coverage neighborhood is less than the effective sounding width corresponding to the traversed grid, the number of current grid coverage increases by the first value. After the traversal is completed, the total number of times all grids are covered is obtained;

[0081] The optimized spatial clustering map generation module is used to divide the grids whose total number of coverages in the neighborhood range is within the same cluster total number range into the same area based on the clustering algorithm, as the initial area, and obtain a spatial clustering map containing several initial areas; obtain the fitness of each grid in the initial area and the neighborhood initial area, obtain several regional fitnesses, and form a regional fitness set for each grid; divide the grids whose regional fitness in the area in the spatial clustering map is less than the fitness threshold into the initial area corresponding to the maximum regional fitness in the corresponding regional fitness set, and obtain an optimized spatial clustering map containing several optimized areas;

[0082] The multi-beam survey line layout result generation module is used to determine the survey line distribution sequence number and survey line distribution density of each optimization area according to the order of the cumulative number of coverage of the optimization area in the optimization space clustering diagram from small to large, and the survey line spacing of each optimization area; based on the survey line direction, survey line distribution sequence number, and survey line distribution density of each optimization area, a number of corresponding survey lines are evenly distributed in each optimization area to obtain the multi-beam survey line layout result.

[0083] This embodiment further provides a multi-beam survey line layout optimization device, including a processor and a memory, wherein the processor implements the above-mentioned multi-beam survey line layout optimization method when executing a computer program stored in the memory.

[0084] This embodiment further provides a computer-readable storage medium for storing a computer program, wherein the computer program implements the above-mentioned multi-beam survey line layout optimization method when executed by a processor.

[0085] The present embodiment also provides a multi-beam survey line layout optimization method, firstly, constructing a task area map and determining the optimal grid side length according to the area of ​​the inscribed circle grid, performing grid division according to the optimal grid side length, and obtaining a gridded task area map, so that the grid can better adapt to the sea area to be measured, thereby improving the grid division accuracy, which is beneficial to improving the accuracy and efficiency of subsequent multi-beam survey line design; then, based on the maximum water depth of the task area and the optimal grid side length, determining the traversal coverage neighborhood range, and calculating the total number of times each grid unit is covered during the traversal process; then, based on the total number of times the grid is covered, performing the initial area division of the grid, and evaluating the rationality of each grid in the area division according to the fitness of each grid in the initial area and the neighborhood initial area , the grids whose regional fitness in the area in the spatial clustering map is less than the fitness threshold are divided into the corresponding initial areas in the corresponding regional fitness concentration and the regional fitness maximum value, and the regional division is optimized to obtain an optimized spatial clustering map containing several optimized areas; finally, the survey line spacing of each optimized area in each optimized spatial clustering map is obtained, and the survey line distribution sequence number and the survey line distribution density of each optimized area are determined in turn according to the order of the cumulative number of coverage of the optimized area in the optimized spatial clustering map from small to large; then, based on the survey line direction, survey line distribution sequence number and survey line distribution density of each optimized area, a number of corresponding survey lines are evenly distributed in each optimized area to obtain the multi-beam survey line layout result, and realize the optimization of multi-beam survey line layout.

Claims

1. A multi-beam survey line layout optimization method, characterized in that: The following operations are included: S1. Construct a task area map of the sea area to be measured, and construct the error term to be measured according to the grid area of ​​the inscribed circle corresponding to the task area map; obtain the optimal grid side length based on the error term to be measured; and grid the task area map according to the optimal grid side length to obtain a gridded task area map; S2. Based on the maximum water depth of the mission area, the maximum effective sounding width is obtained; based on the maximum effective sounding width and the optimal grid side length, the traversal coverage neighborhood range is obtained; According to the preset traversal direction, each grid in the gridded task area map is traversed in turn. During the traversal process, if the distance between the center point of the traversed grid and the center point of the current grid within the coverage neighborhood is less than the effective sounding width corresponding to the traversed grid, the number of covered grids is increased by the first value. After the traversal is completed, the total number of covered grids is obtained. S3. Based on the clustering algorithm, the grids whose total number of coverages in the neighborhood range is within the same total number of clusters are divided into the same area as the initial area, and a spatial clustering map containing several initial areas is obtained; the fitness of each grid in the initial area and the neighborhood initial area is obtained, and several regional fitnesses are obtained, forming a regional fitness set for each grid; The grids in the spatial clustering diagram whose regional fitness is less than the fitness threshold are divided into the initial area corresponding to the maximum regional fitness value in the corresponding regional fitness concentration, and an optimized spatial clustering diagram containing several optimized areas is obtained; S4. According to the order of the cumulative number of coverage of the optimization area in the optimization space clustering diagram from small to large, and the survey line spacing of each optimization area, the survey line distribution number and the survey line distribution density of each optimization area are determined respectively; based on the survey line direction, survey line distribution number and survey line distribution density of each optimization area, a number of corresponding survey lines are evenly distributed in each optimization area to obtain the multi-beam survey line layout result.

2. The multi-beam survey line layout optimization method according to claim 1, characterized in that: The error term to be measured in S1 is obtained by the following formula: ， ， ， is the error term to be measured, is the area covered within the circle, is the area of ​​the inscribed circle corresponding to the task area graph, is the radius of the inscribed circle corresponding to the task area graph, is the grid side length, is the total number of grid cells in the covered area within the circle.

3. The multi-beam survey line layout optimization method according to claim 1, characterized in that: In S1, the operation of obtaining the optimal grid side length is specifically: Preset a number of grid side lengths to be selected, substitute each grid side length to be selected into the corresponding formula of the error term to be measured to calculate and obtain the respective error values; Draw a graph with the horizontal axis being the side length of the grid to be selected and the vertical axis being the error value. In the graph, if the difference in the error values ​​between the adjacent side lengths of the grid to be selected after the current side length of the grid to be selected is less than the difference threshold, then the current side length of the grid to be selected is taken as the optimal side length of the grid.

4. The multi-beam survey line layout optimization method according to claim 1, characterized in that: The maximum effective sounding width in S2 is calculated by the following formula: ， is the maximum effective sounding width, is the maximum water depth in the mission area, is the opening angle of the multi-beam transducer.

5. The multi-beam survey line layout optimization method according to claim 1, characterized in that: In S2, the traversal coverage neighborhood range is a rectangular area formed by a number of traversal coverage neighborhood grids; The total number of traversed covered neighborhood grids is calculated using the following formula: ， is the total number of grids in the traversal coverage neighborhood, is the maximum effective sounding width, is the optimal grid edge length.

6. The multi-beam survey line layout optimization method according to claim 1, characterized in that: In S3, the regional fitness is obtained based on the grid aggregation degree of the area where the grid is located and the separation degree between the areas; The grid aggregation degree is calculated by the following formula: ， is the grid aggregation degree, For the n The total number of times a grid is covered, N is the total number of grids in the initial area, is the average total number of times the grid is covered in the initial area.

7. The multi-beam survey line layout optimization method according to claim 1, characterized in that: In S3, the regional fitness is calculated by the following formula: ， For Grid i In the area a The regional fitness at For grid i in the region a Time and area a The average distance to other grids within For Grid i In the area a The average distance from all grids in the initial area of ​​all neighborhoods.

8. A multi-beam survey line layout optimization system, used to implement the multi-beam survey line layout optimization method according to claim 1, characterized in that: include: A gridded mission area map generation module is used to construct a mission area map of the sea area to be measured, and to construct the error term to be measured according to the grid area corresponding to the inscribed circle of the mission area map; Based on the error term to be measured, the optimal grid side length is obtained; according to the optimal grid side length, the task area map is gridded to obtain a gridded task area map; The total number of grid coverage generation modules is used to obtain the maximum effective sounding width based on the maximum water depth of the task area; obtain the traversal coverage neighborhood range according to the maximum effective sounding width and the optimal grid side length; traverse each grid in the gridded task area map in turn according to the preset traversal direction. During the traversal process, if the distance between the center point of the traversed grid and the center point of the current grid in the coverage neighborhood is less than the effective sounding width corresponding to the traversed grid, the number of current grid coverage increases by the first value. After the traversal is completed, the total number of times all grids are covered is obtained; The optimized spatial clustering map generation module is used to divide the grids whose total number of coverages in the neighborhood range is within the same cluster total number range into the same area based on the clustering algorithm, as the initial area, and obtain a spatial clustering map containing several initial areas; obtain the fitness of each grid in the initial area and the neighborhood initial area, obtain several regional fitnesses, and form a regional fitness set for each grid; divide the grids whose regional fitness in the area in the spatial clustering map is less than the fitness threshold into the initial area corresponding to the maximum regional fitness in the corresponding regional fitness set, and obtain an optimized spatial clustering map containing several optimized areas; The multi-beam survey line layout result generation module is used to determine the survey line distribution sequence number and survey line distribution density of each optimization area according to the order of the cumulative number of coverage of the optimization area in the optimization space clustering diagram from small to large, and the survey line spacing of each optimization area; based on the survey line direction, survey line distribution sequence number, and survey line distribution density of each optimization area, a number of corresponding survey lines are evenly distributed in each optimization area to obtain the multi-beam survey line layout result.

9. A multi-beam survey line layout optimization device, characterized in that: The method comprises a processor and a memory, wherein the processor implements the multi-beam survey line layout optimization method according to any one of claims 1 to 7 when executing the computer program stored in the memory.

10. A computer-readable storage medium, characterized in that: Used to store a computer program, wherein when the computer program is executed by a processor, the multi-beam survey line layout optimization method according to any one of claims 1 to 7 is implemented.

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